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| Rev 1910 | Rev 2099 | ||
|---|---|---|---|
| 1 | #include "externalcontrol.h" |
1 | #include "externalControl.h" |
| 2 | #include "configuration.h" |
2 | #include "configuration.h" |
| 3 | #include "controlMixer.h" |
3 | #include "controlMixer.h" |
| 4 | 4 | ||
| 5 | ExternalControl_t externalControl; |
5 | ExternalControl_t externalControl; |
| 6 | uint8_t externalControlActive; |
6 | uint8_t externalControlActive = 0; |
| 7 | - | ||
| 8 | int16_t EC_EATR[4]; |
7 | // int16_t EC_PRTY[4]; |
| 9 | - | ||
| 10 | // TODO: Who is going to call this |
8 | // TODO: Who is going to call this |
| - | 9 | ||
| 11 | void EC_setNeutral(void) { |
10 | void EC_setNeutral(void) { |
| 12 | // if necessary. From main.c. |
11 | // if necessary. From main.c. |
| 13 | externalControl.config = 0; |
12 | externalControl.config = 0; |
| 14 | externalControl.pitch = 0; |
13 | externalControl.pitch = 0; |
| 15 | externalControl.roll = 0; |
14 | externalControl.roll = 0; |
| 16 | externalControl.yaw = 0; |
15 | externalControl.yaw = 0; |
| 17 | externalControl.throttle = 0; |
16 | externalControl.throttle = 0; |
| 18 | 17 | ||
| 19 | // From main.c. What does it do?? |
18 | // From main.c. What does it do?? |
| 20 | externalControl.digital[0] = 0x55; |
19 | externalControl.digital[0] = 0x55; |
| - | 20 | } |
|
| 21 | } |
21 | |
| 22 | 22 | void EC_periodicTaskAndPRTY(int16_t* PRTY) { |
|
| - | 23 | if (externalControlActive) { |
|
| - | 24 | externalControlActive--; |
|
| - | 25 | PRTY[CONTROL_ELEVATOR] += externalControl.pitch * 8; |
|
| - | 26 | PRTY[CONTROL_AILERONS] += externalControl.roll * 8; |
|
| - | 27 | PRTY[CONTROL_THROTTLE] += externalControl.throttle * 8; |
|
| 23 | int16_t* EC_getEATR(void) { |
28 | PRTY[CONTROL_RUDDER] += externalControl.yaw * 8; |
| 24 | return EC_EATR; |
29 | } |
| 25 | } |
30 | } |
| 26 | 31 | ||
| 27 | uint8_t EC_getArgument(void) { |
32 | uint8_t EC_getArgument(void) { |
| 28 | return externalControl.config; |
33 | return externalControl.config; |
| 29 | } |
34 | } |
| 30 | 35 | ||
| 31 | uint8_t EC_getCommand(void) { |
36 | uint8_t EC_getCommand(void) { |
| 32 | return externalControl.free; |
37 | return externalControl.free; |
| 33 | } |
38 | } |
| 34 | 39 | ||
| 35 | // not implemented. |
40 | // not implemented. |
| 36 | int16_t EC_getVariable(uint8_t varNum) { |
41 | int16_t EC_getVariable(uint8_t varNum) { |
| 37 | return 0; |
42 | return 0; |
| 38 | } |
- | |
| 39 | - | ||
| 40 | void EC_update() { |
- | |
| 41 | if (externalControlActive) { |
- | |
| 42 | externalControlActive--; |
- | |
| 43 | EC_EATR[CONTROL_ELEVATOR] = externalControl.pitch * 4; |
- | |
| 44 | EC_EATR[CONTROL_AILERONS] = externalControl.roll * 4; |
- | |
| 45 | EC_EATR[CONTROL_THROTTLE] = externalControl.throttle; |
- | |
| 46 | EC_EATR[CONTROL_RUDDER ] = externalControl.yaw; // No stickP or similar?????? |
- | |
| 47 | } else { |
- | |
| 48 | EC_EATR[CONTROL_ELEVATOR] = EC_EATR[CONTROL_AILERONS] = EC_EATR[CONTROL_THROTTLE] = EC_EATR[CONTROL_RUDDER] = 0; |
- | |
| 49 | } |
- | |
| 50 | } |
43 | } |
| 51 | 44 | ||
| 52 | uint8_t EC_getSignalQuality(void) { |
45 | uint8_t EC_getSignalQuality(void) { |
| 53 | if (externalControlActive > 40) |
46 | if (externalControlActive > 40) |
| 54 | // Configured and heard from recently |
47 | // Configured and heard from recently |
| 55 | return SIGNAL_GOOD; |
48 | return SIGNAL_GOOD; |
| 56 | 49 | ||
| 57 | if (externalControlActive) |
50 | if (externalControlActive) |
| 58 | // Configured and heard from |
51 | // Configured and heard from |
| 59 | return SIGNAL_OK; |
52 | return SIGNAL_OK; |
| 60 | 53 | ||
| 61 | if (!(externalControl.config & 0x01 && dynamicParams.ExternalControl > 128)) |
54 | if (!(externalControl.config & 0x01 && dynamicParams.externalControl > 128)) |
| 62 | // External control is not even configured. |
55 | // External control is not even configured. |
| 63 | return NO_SIGNAL; |
56 | return NO_SIGNAL; |
| 64 | 57 | ||
| 65 | // Configured but expired. |
58 | // Configured but expired. |
| 66 | return SIGNAL_LOST; |
59 | return SIGNAL_LOST; |
| 67 | } |
60 | } |
| 68 | 61 | ||